CUED Publications database

Stabilization of planar collective motion: All-to-all communication

Sepulchre, R and Paley, DA and Leonard, NE (2007) Stabilization of planar collective motion: All-to-all communication. IEEE Transactions on Automatic Control, 52. pp. 811-824. ISSN 0018-9286

Full text not available from this repository.

Abstract

This paper proposes a design methodology to stabilize isolated relative equilibria in a model of all-to-all coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles with fixed relative phases. The stabilizing feedbacks derive from Lyapunov functions that prove exponential stability and suggest almost global convergence properties. The results of the paper provide a low-order parametric family of stabilizable collectives that offer a set of primitives for the design of higher-level tasks at the group level. © 2007 IEEE.

Item Type: Article
Uncontrolled Keywords: Cooperative control Geometric control Multi-agent systems Stabilization
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:25
Last Modified: 19 Dec 2014 08:45
DOI: 10.1109/TAC.2007.898077